1970 lines
55 KiB
Plaintext
1970 lines
55 KiB
Plaintext
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<model name='Construction Barrel_2'>
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<pose>-16.5172 12.0058 -4e-06 2e-06 -7e-06 -0.001926</pose>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<model name='Construction Barrel_3'>
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<pose>19.134 9.52298 -2e-06 -1e-06 -7e-06 -0.001846</pose>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<model name='Construction Barrel_4'>
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<pose>25.4331 -3.40512 -3e-06 3e-06 -6e-06 -0.001732</pose>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<model name='Construction Barrel_5'>
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<pose>-27.0001 7.54625 -3e-06 3e-06 -6e-06 -0.001679</pose>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='Construction Barrel_6'>
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<pose>-10.0001 27.0009 -1e-06 -2e-06 8e-06 -0.001682</pose>
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<link name='link'>
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<pose>-10.0001 27.0009 -1e-06 -2e-06 8e-06 -0.001682</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='Construction Barrel_7'>
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<pose>-31.0001 -4.99911 -4e-06 5e-06 9e-06 -0.001599</pose>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='Construction Barrel_8'>
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<pose>-9.5682 -19.9991 -0 0 -0 -0.001545</pose>
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<link name='link'>
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<pose>-9.5682 -19.9991 -0 0 -0 -0.001545</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='Construction Barrel_9'>
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<pose>-26.0001 -13.9992 -0 0 -0 -0.00146</pose>
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<link name='link'>
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<pose>-26.0001 -13.9992 -0 0 -0 -0.00146</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='ground_plane'>
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<pose>0 0 0 0 -0 0</pose>
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<link name='link'>
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<pose>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier'>
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<pose>0.597215 21.4103 0 0 -0 0</pose>
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<link name='link'>
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<pose>0.597215 21.4103 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_0'>
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<pose>-10 22 0 0 -0 0</pose>
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<link name='link'>
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<pose>-10 22 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_1'>
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<pose>-26 2 0 0 -0 1.49459</pose>
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<link name='link'>
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<pose>-26 2 0 0 -0 1.49459</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_2'>
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<pose>-16 -16 0 0 -0 0</pose>
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<link name='link'>
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<pose>-16 -16 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_3'>
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<pose>8 -18 0 0 -0 0</pose>
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<link name='link'>
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<pose>8 -18 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_4'>
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<pose>24 2 0 0 -0 1.52298</pose>
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<link name='link'>
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<pose>24 2 0 0 -0 1.52298</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>57.5279 -14.7529 58.8659 -4.21338e-17 0.851643 2.54019</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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<model name='jersey_barrier'>
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<static>1</static>
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<link name='link'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<box>
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<ode/>
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<geometry>
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<box>
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<contact>
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<ode/>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<box>
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<contact>
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<ode/>
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</contact>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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<velocity_decay>
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<gravity>1</gravity>
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</link>
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<pose>0.597215 21.4103 0 0 -0 0</pose>
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</model>
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<model name='jersey_barrier_0'>
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<static>1</static>
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<link name='link'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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<ode/>
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<collision name='base'>
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<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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<friction>
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</friction>
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<contact>
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<ode/>
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</contact>
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<collision name='base2'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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<surface>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<box>
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</box>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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<velocity_decay>
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<linear>0</linear>
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</velocity_decay>
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<gravity>1</gravity>
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</link>
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<pose>-10 22 0 0 -0 0</pose>
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</model>
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<model name='jersey_barrier_1'>
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|
<static>1</static>
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|
<link name='link'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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<ode/>
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<collision name='base'>
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<box>
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<contact>
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<ode/>
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<collision name='base2'>
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<geometry>
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<box>
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<contact>
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<ode/>
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<collision name='base3'>
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<box>
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<contact>
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<ode/>
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<collision name='left-angle'>
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<geometry>
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<box>
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<contact>
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<ode/>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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<contact>
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<ode/>
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<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-26 2 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_2'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-16 -16 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_3'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>8 -18 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_4'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>24 2 0 0 -0 0</pose>
|
|
</model>
|
|
</world>
|
|
</sdf>
|